{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Importing Important Libraries"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import math\n",
    "import sympy  as sp\n",
    "from sympy.matrices import Matrix\n",
    "from functools import partial\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "from mpl_toolkits import mplot3d\n",
    "from math import pi\n",
    "import pprint\n",
    "pp=pprint.PrettyPrinter(indent=5)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Declaring Variables\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "theta_i, alpha_i, d_i, a_i, A_i, a_3, d_1, d_3, d_5, d_7 = sp.symbols('theta_i alpha_i d_i a_i A_i a_3 d_1, d_3, d_5, d_7')\n",
    "theta_1,theta_2,theta_3,theta_4,theta_5,theta_6,theta_7 = sp.symbols ('theta_1,theta_2, theta_3, theta_4, theta_5, theta_6, theta_7')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Rotation and Translation Matrices\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "Rotation Matrix for rotation about Z\n",
      "Matrix([\n",
      "[cos(theta_i), -sin(theta_i), 0, 0],\n",
      "[sin(theta_i),  cos(theta_i), 0, 0],\n",
      "[           0,             0, 1, 0],\n",
      "[           0,             0, 0, 1]])\n",
      "\n",
      "Rotation Matrix for rotation about X\n",
      "Matrix([\n",
      "[1,            0,             0, 0],\n",
      "[0, cos(alpha_i), -sin(alpha_i), 0],\n",
      "[0, sin(alpha_i),  cos(alpha_i), 0],\n",
      "[0,            0,             0, 1]])\n",
      "\n",
      "Translation Matrix for translation about Z\n",
      "Matrix([\n",
      "[1, 0, 0,   0],\n",
      "[0, 1, 0,   0],\n",
      "[0, 0, 1, d_i],\n",
      "[0, 0, 0,   1]])\n",
      "\n",
      "Translation Matrix for translation about X\n",
      "Matrix([\n",
      "[1, 0, 0, a_i],\n",
      "[0, 1, 0,   0],\n",
      "[0, 0, 1,   0],\n",
      "[0, 0, 0,   1]])\n"
     ]
    }
   ],
   "source": [
    "Rot_z = sp.Matrix([ [sp.cos(theta_i), -sp.sin(theta_i),0,0], [sp.sin(theta_i),sp.cos(theta_i),0,0], [0,0,1,0], [0,0,0,1] ]);\n",
    "Rot_x = sp.Matrix([ [1,0,0,0], [0,sp.cos(alpha_i), -sp.sin(alpha_i),0], [0, sp.sin(alpha_i), sp.cos(alpha_i), 0], [0,0,0,1] ]); \n",
    "Tran_z = sp.Matrix([[1,0,0,0], [0,1,0,0], [0,0,1,d_i], [0,0,0,1]]);\n",
    "Tran_x = sp.Matrix([[1,0,0,a_i], [0,1,0,0], [0,0,1,0], [0,0,0,1]]);\n",
    "print(\"\\nRotation Matrix for rotation about Z\")\n",
    "pp.pprint(Rot_z)\n",
    "print(\"\\nRotation Matrix for rotation about X\")\n",
    "pp.pprint(Rot_x)\n",
    "print(\"\\nTranslation Matrix for translation about Z\")\n",
    "pp.pprint(Tran_z)\n",
    "print(\"\\nTranslation Matrix for translation about X\")\n",
    "pp.pprint(Tran_x)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### General Homogeneous Matrix"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Matrix([\n",
      "[cos(theta_i), -sin(theta_i)*cos(alpha_i),  sin(alpha_i)*sin(theta_i), a_i*cos(theta_i)],\n",
      "[sin(theta_i),  cos(alpha_i)*cos(theta_i), -sin(alpha_i)*cos(theta_i), a_i*sin(theta_i)],\n",
      "[           0,               sin(alpha_i),               cos(alpha_i),              d_i],\n",
      "[           0,                          0,                          0,                1]])\n"
     ]
    }
   ],
   "source": [
    "A_i=Rot_z*Tran_z*Tran_x*Rot_x;\n",
    "pp.pprint(A_i)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### DH Parameter Table for Fixed $\\theta_3$"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "| Link | $a_i$ | $\\theta_i$ | $\\alpha_i$ | $d_i$ |\n",
    "| --- | --- | --- | --- | --- |\n",
    "| 1 | 0 | $\\theta_1^*$ | 90 | $d_1$ |\n",
    "| 2 | 0 | $\\theta_2^*$ | -90 | 0 |\n",
    "| 3 | $a_3$ | 0 | -90 | $d_3$ |\n",
    "| 4 | $-a_3$ | $\\theta_4^*$ | 90 | 0 |\n",
    "| 5 | 0 | $\\theta_5^*$ | 90 | $d_5$ |\n",
    "| 6 | $a_3$ | $\\theta_6^*$ | -90 | 0 |\n",
    "| 7 | 0 | $\\theta_7^*$ | 0 | $-d_7$ |"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}6.12323399573677 \\cdot 10^{-17} & 6.12323399573677 \\cdot 10^{-17} & -1.0 & 0\\\\-1.0 & 3.74939945665464 \\cdot 10^{-33} & -6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & 1.0 & 6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[6.12323399573677e-17, 6.12323399573677e-17,                  -1.0, 0],\n",
       "[                -1.0, 3.74939945665464e-33, -6.12323399573677e-17, 0],\n",
       "[                   0,                  1.0,  6.12323399573677e-17, 0],\n",
       "[                   0,                    0,                     0, 1]])"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad0=A_i.subs([(theta_i,math.radians(-90)),(alpha_i,math.radians(90)),(a_i,0),(d_i,0)])\n",
    "Ad0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{1} \\right)} & - \\sin{\\left(\\theta_{1} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{1} \\right)} & \\cos{\\left(\\theta_{1} \\right)} & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_1), -sin(theta_1), 0, 0],\n",
       "[sin(theta_1),  cos(theta_1), 0, 0],\n",
       "[           0,             0, 1, 0],\n",
       "[           0,             0, 0, 1]])"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A1=A_i.subs([(theta_i,theta_1),(alpha_i,math.radians(0)),(a_i,0),(d_i,0)])\n",
    "A1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}6.12323399573677 \\cdot 10^{-17} & 6.12323399573677 \\cdot 10^{-17} & 1.0 & 0\\\\-1.0 & 3.74939945665464 \\cdot 10^{-33} & 6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & -1.0 & 6.12323399573677 \\cdot 10^{-17} & 64.85\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[6.12323399573677e-17, 6.12323399573677e-17,                  1.0,     0],\n",
       "[                -1.0, 3.74939945665464e-33, 6.12323399573677e-17,     0],\n",
       "[                   0,                 -1.0, 6.12323399573677e-17, 64.85],\n",
       "[                   0,                    0,                    0,     1]])"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad1=A_i.subs([(theta_i,math.radians(-90)),(alpha_i,math.radians(-90)),(a_i,0),(d_i,64.85)])\n",
    "Ad1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{2} \\right)} & - \\sin{\\left(\\theta_{2} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{2} \\right)} & \\cos{\\left(\\theta_{2} \\right)} & 0 & 0\\\\0 & 0 & 1 & 140\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_2), -sin(theta_2), 0,   0],\n",
       "[sin(theta_2),  cos(theta_2), 0,   0],\n",
       "[           0,             0, 1, 140],\n",
       "[           0,             0, 0,   1]])"
      ]
     },
     "execution_count": 8,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A2=A_i.subs([(theta_i,theta_2),(alpha_i,math.radians(0)),(a_i,0),(d_i,140)])\n",
    "A2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}1 & 0 & 0 & 500\\\\0 & 1 & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[1, 0, 0, 500],\n",
       "[0, 1, 0,   0],\n",
       "[0, 0, 1,   0],\n",
       "[0, 0, 0,   1]])"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad2=A_i.subs([(theta_i,math.radians(0)),(alpha_i,math.radians(0)),(a_i,500),(d_i,0)])\n",
    "Ad2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A3"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{3} \\right)} & - \\sin{\\left(\\theta_{3} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{3} \\right)} & \\cos{\\left(\\theta_{3} \\right)} & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_3), -sin(theta_3), 0, 0],\n",
       "[sin(theta_3),  cos(theta_3), 0, 0],\n",
       "[           0,             0, 1, 0],\n",
       "[           0,             0, 0, 1]])"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A3=A_i.subs([(theta_i,theta_3),(alpha_i,math.radians(0)),(a_i,0),(d_i,0)])\n",
    "A3"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A4"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}1 & 0 & 0 & 450\\\\0 & 1 & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[1, 0, 0, 450],\n",
       "[0, 1, 0,   0],\n",
       "[0, 0, 1,   0],\n",
       "[0, 0, 0,   1]])"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A4=A_i.subs([(theta_i,0),(alpha_i,math.radians(0)),(a_i,450),(d_i,0)])\n",
    "A4"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Steps to Get the Jacobian Matrix usinh Method 2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Transformation Matrix  $T_e^0$ from $O_0$ to $O_e$"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Transformation Matrix with joint angle set to required position\n"
     ]
    },
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}0 & 1.0 & 0 & -418.403390593274\\\\-6.12323399573677 \\cdot 10^{-17} & 0 & -1.0 & -140.0\\\\-1.0 & 0 & 6.12323399573677 \\cdot 10^{-17} & -803.553390593274\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[                    0, 1.0,                    0, -418.403390593274],\n",
       "[-6.12323399573677e-17,   0,                 -1.0,            -140.0],\n",
       "[                 -1.0,   0, 6.12323399573677e-17, -803.553390593274],\n",
       "[                    0,   0,                    0,                 1]])"
      ]
     },
     "execution_count": 12,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "T1=Ad0*A1\n",
    "T2=Ad0*A1*Ad1*A2\n",
    "T3=Ad0*A1*Ad1*A2*Ad2*A3\n",
    "T4=Ad0*A1*Ad1*A2*Ad2*A3*A4\n",
    "T = T4.subs([(theta_1,math.radians(0)),(theta_2,math.radians(-45)),(theta_3,math.radians(45))])\n",
    "print(\"Transformation Matrix with joint angle set to required position\")\n",
    "T\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Calculating the Z vector for all links"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z0 matrix is given:\n",
      "Matrix([\n",
      "[                 -1.0],\n",
      "[-6.12323399573677e-17],\n",
      "[ 6.12323399573677e-17]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z0 matrix is given:\")\n",
    "Z0 = T1[:3,2]\n",
    "pp.pprint(Z0)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z1 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) - 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                 1.0*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z1 matrix is given:\")\n",
    "Z1 = T2[:3,2]\n",
    "pp.pprint(Z1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z2 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) - 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                 1.0*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z2 matrix is given:\")\n",
    "Z2 = T3[:3,2]\n",
    "pp.pprint(Z2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z4 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) - 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                 1.0*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z4 matrix is given:\")\n",
    "Z3 = T4[:3,2]\n",
    "pp.pprint(Z3)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Forming the columns $J_1$ to $J_6$ of the Jacobian Matrix"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The initial jacobian matrix for home position is given by:\n"
     ]
    },
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}6.67432505535308 \\cdot 10^{-14} & 950.0 & 450.0\\\\-950.0 & 0 & 0\\\\140.0 & -5.81707229594993 \\cdot 10^{-14} & -2.75545529808154 \\cdot 10^{-14}\\\\-1.0 & 0 & 0\\\\-6.12323399573677 \\cdot 10^{-17} & -1.0 & -1.0\\\\6.12323399573677 \\cdot 10^{-17} & 6.12323399573677 \\cdot 10^{-17} & 6.12323399573677 \\cdot 10^{-17}\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[ 6.67432505535308e-14,                 950.0,                 450.0],\n",
       "[               -950.0,                     0,                     0],\n",
       "[                140.0, -5.81707229594993e-14, -2.75545529808154e-14],\n",
       "[                 -1.0,                     0,                     0],\n",
       "[-6.12323399573677e-17,                  -1.0,                  -1.0],\n",
       "[ 6.12323399573677e-17,  6.12323399573677e-17,  6.12323399573677e-17]])"
      ]
     },
     "execution_count": 17,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Xp=T4[:3,3]\n",
    "diff_thet_1 = Xp.diff(theta_1) #Partially differentiating Xp wrt θ1\n",
    "\n",
    "diff_thet_2 = Xp.diff(theta_2) #Partially differentiating Xp wrt θ2\n",
    "\n",
    "diff_thet_3 = Xp.diff(theta_3) #Partially differentiating Xp wrt θ4\n",
    "\n",
    "\n",
    "print(\"The initial jacobian matrix for home position is given by:\")\n",
    "J = Matrix([[diff_thet_1[0],diff_thet_2[0],diff_thet_3[0]],\n",
    "          [diff_thet_1[1],diff_thet_2[1],diff_thet_3[1]],\n",
    "          [diff_thet_1[2],diff_thet_2[2],diff_thet_3[2]],\n",
    "          [Z0[0],Z1[0],Z2[0]],[Z0[1],Z1[1],Z2[1]],[Z0[2],Z1[2],Z2[2]]])\n",
    "\n",
    "J1=J.subs([(theta_1,0),(theta_2,0),(theta_3,0)])\n",
    "J1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Using the above equations and the Jacobian matrix we compute the tool positions over a time period using Numerical Integration"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Computing Trajectory\n",
      "....................................................................................................."
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "import sympy as sp\n",
    "x,y,z,r,o=sp.symbols(\"x y z r theta\")\n",
    "dt=0.05  #Time difference\n",
    "t_1=[math.radians(0)]  #Theta 1\n",
    "t_2=[-0.7]  #Theta 2\n",
    "t_3=[1.5]  #Theta 4\n",
    "\n",
    "T=T4\n",
    "x_tool=[]\n",
    "y_tool=[]\n",
    "z_tool=[]\n",
    "#Tool Velocity Matrix\n",
    "X=sp.Matrix([[0],[40],[40],[0],[0],[0]])\n",
    "i=0\n",
    "print(\"Computing Trajectory\")\n",
    "while i<=100:\n",
    "    X_eval=X.subs(o,i)\n",
    "    T_eval=T.subs([(theta_1,t_1[i]),(theta_2,t_2[i]),(theta_3,t_3[i])])\n",
    "    x_tool.append(T_eval[3])\n",
    "    y_tool.append(T_eval[7])\n",
    "    z_tool.append(T_eval[11])\n",
    "    J_eval=J.subs([(theta_1,t_1[i]),(theta_2,t_2[i]),(theta_3,t_3[i])])\n",
    "    q=J_eval.pinv()*X_eval\n",
    "    q=q*dt\n",
    "#     print(q)\n",
    "    t_1.append(q[0]+t_1[i])\n",
    "    t_2.append(q[1]+t_2[i])\n",
    "    t_3.append(q[2]+t_3[i])\n",
    "    print(\".\",end=\"\")\n",
    "    i=i+1\n",
    "\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[-140.000000000000,\n",
       " -138.006347703301,\n",
       " -136.012744383699,\n",
       " -134.019189923917,\n",
       " -132.025684212776,\n",
       " -130.032227144824,\n",
       " -128.038818619972,\n",
       " -126.045458543140,\n",
       " -124.052146823919,\n",
       " -122.058883376234,\n",
       " -120.065668118024,\n",
       " -118.072500970927,\n",
       " -116.079381859966,\n",
       " -114.086310713259,\n",
       " -112.093287461712,\n",
       " -110.100312038741,\n",
       " -108.107384379981,\n",
       " -106.114504423013,\n",
       " -104.121672107086,\n",
       " -102.128887372852,\n",
       " -100.136150162096,\n",
       " -98.1434604174757,\n",
       " -96.1508180822634,\n",
       " -94.1582231000865,\n",
       " -92.1656754146755,\n",
       " -90.1731749696115,\n",
       " -88.1807217080760,\n",
       " -86.1883155726026,\n",
       " -84.1959565048303,\n",
       " -82.2036444452573,\n",
       " -80.2113793329960,\n",
       " -78.2191611055293,\n",
       " -76.2269896984666,\n",
       " -74.2348650453010,\n",
       " -72.2427870771657,\n",
       " -70.2507557225917,\n",
       " -68.2587709072643,\n",
       " -66.2668325537798,\n",
       " -64.2749405814023,\n",
       " -62.2830949058189,\n",
       " -60.2912954388955,\n",
       " -58.2995420884311,\n",
       " -56.3078347579117,\n",
       " -54.3161733462634,\n",
       " -52.3245577476037,\n",
       " -50.3329878509937,\n",
       " -48.3414635401870,\n",
       " -46.3499846933791,\n",
       " -44.3585511829552,\n",
       " -42.3671628752365,\n",
       " -40.3758196302261,\n",
       " -38.3845213013528,\n",
       " -36.3932677352146,\n",
       " -34.4020587713207,\n",
       " -32.4108942418322,\n",
       " -30.4197739713020,\n",
       " -28.4286977764133,\n",
       " -26.4376654657177,\n",
       " -24.4466768393721,\n",
       " -22.4557316888743,\n",
       " -20.4648297967984,\n",
       " -18.4739709365298,\n",
       " -16.4831548719988,\n",
       " -14.4923813574144,\n",
       " -12.5016501369979,\n",
       " -10.5109609447158,\n",
       " -8.52031350401362,\n",
       " -6.52970752754902,\n",
       " -4.53914271692588,\n",
       " -2.54861876242895,\n",
       " -0.558135342759147,\n",
       " 1.43230787522992,\n",
       " 3.42271123679420,\n",
       " 5.41307509955995,\n",
       " 7.40339983378217,\n",
       " 9.39368582260165,\n",
       " 11.3839334622989,\n",
       " 13.3741431625457,\n",
       " 15.3643153466532,\n",
       " 17.3544504518170,\n",
       " 19.3445489293576,\n",
       " 21.3346112449574,\n",
       " 23.3246378788929,\n",
       " 25.3146293262611,\n",
       " 27.3045860972015,\n",
       " 29.2945087171109,\n",
       " 31.2843977268529,\n",
       " 33.2742536829594,\n",
       " 35.2640771578258,\n",
       " 37.2538687398968,\n",
       " 39.2436290338447,\n",
       " 41.2333586607386,\n",
       " 43.2230582582030,\n",
       " 45.2127284805675,\n",
       " 47.2023699990043,\n",
       " 49.1919835016550,\n",
       " 51.1815696937453,\n",
       " 53.1711292976865,\n",
       " 55.1606630531637,\n",
       " 57.1501717172104,\n",
       " 59.1396560642676]"
      ]
     },
     "execution_count": 21,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "y_tool"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Plotting trajectory in 2D Space"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "plt.plot(y_tool,z_tool)\n",
    "# plt.scatter(0,0.725)\n",
    "plt.xlabel(\"y coordinate\")\n",
    "plt.ylabel(\"z coordinate\")\n",
    "plt.axis(\"equal\")\n",
    "plt.title(\"Trajectory of Robot\")\n",
    "plt.grid(True)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Plotting Trajectory in 3D Space"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1000x1000 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "ax = plt.figure(figsize=(10,10)).add_subplot(projection='3d')\n",
    "# ax.axes.set_xlim3d(left=0.65, right=0.7) \n",
    "# ax.axes.set_ylim3d(bottom=-0.15, top=0.15) \n",
    "# ax.axes.set_zlim3d(bottom=0.625, top=0.825) \n",
    "ax.set_xlabel('$X$', fontsize=12)\n",
    "ax.set_ylabel('$Y$', fontsize=12)\n",
    "ax.set_zlabel('$Z$', fontsize=12)\n",
    "# ax.set_zticks(np.linspace(0.625,0.825,5).round(3))\n",
    "# ax.set_xticks(np.linspace(0.65,0.7,20).round(2))\n",
    "# ax.set_yticks(np.linspace(-0.15,0.15,5).round(2))\n",
    "ax.plot(x_tool, y_tool, z_tool, label='Tool Trajectory')\n",
    "ax.plot(np.full(len(y_tool),0.65), y_tool, z_tool, label='Projection of Circle on X Plane')\n",
    "ax.legend()\n",
    "\n",
    "plt.show()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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